1# Copyright 2024 The Android Open Source Project
2#
3# Licensed under the Apache License, Version 2.0 (the "License");
4# you may not use this file except in compliance with the License.
5# You may obtain a copy of the License at
6#
7#      http://www.apache.org/licenses/LICENSE-2.0
8#
9# Unless required by applicable law or agreed to in writing, software
10# distributed under the License is distributed on an "AS IS" BASIS,
11# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12# See the License for the specific language governing permissions and
13# limitations under the License.
14"""Utility functions for IMU data processing."""
15
16
17def calc_rv_drift(data):
18  """Calculate data drift accounting for +/-180 degrees for stationary DUT.
19
20  Args:
21    data: list of +180/-180 rotation vector data
22
23  Returns:
24    list of data-data[0] drift
25  """
26  data_360 = [i % 360 for i in data]
27  drift = []
28  for d in data_360:
29    if d - data_360[0] <= -180:
30      drift.append(d - data_360[0] + 360)
31    elif d - data_360[0] > 180:
32      drift.append(d - data_360[0] - 360)
33    else:
34      drift.append(d - data_360[0])
35  return drift
36